This project involves the manufacturing and development of an all-terrain hexapod robot, primarily designed for search and rescue operations. The robot will be capable of traversing rough and uneven terrain, providing versatility and stability.
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Transformable Leg Configuration: Two of the robot’s six legs will be multi-functional. In addition to functioning as legs, they will be equipped with additional tools (such as grippers, TBD) that enable the robot to switch between a 6-leg and 4-leg configuration. This allows the robot to perform tasks beyond simple locomotion, making it a highly adaptable tool in rescue scenarios.
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Simulation: The kinematics of the robot are being simulated using Pinocchio Rigid Body Dynamics, with SciPy used for optimization. Meshcat is used for visualizing the robot's movement.
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Hardware Development:
- The 6 legs of the robot have been 3D printed.
- Future development includes the acquisition of 18 motors (3 per leg) to complete the hardware assembly.
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Planned Features:
- Autonomy: SLAM (Simultaneous Localization and Mapping) will be implemented for autonomous navigation in unknown environments.
- Optimal Control: MPC (Model Predictive Control) will be integrated for controlling the robot's movement in an optimal way.
This repository currently contains the following:
- URDF file for the hexapod robot’s structure.
- CAD files in .itp format for the robot's physical design.
- Initial setup for simulations using Pinocchio and SciPy.
- Books and resources providing background knowledge for the development of control algorithms.
Further development is ongoing.
- Integration of SLAM for autonomous navigation.
- MPC for optimal control.
- Further development of the robot’s hardware and software, including the addition of multi-functional tools on two of the legs.
This project does not currently have an associated license.